Calibration system for sensors and cameras on vehicles

ABSTRACT

A sensor calibration system includes a calibration tool with a vertical rail defining a first axis, and two carriage assemblies. One carriage assembly is supported by the vertical rail, movable along the first axis, and has a horizontal rail defining a second axis transverse to the first axis. Another carriage assembly is coupled to the horizontal rail, and has a transverse mounting bar with a plurality of target mounts, each target mount configured to releasably support a respective calibration target.

RELATED APPLICATIONS

This disclosure is a divisional of U.S. patent application Ser. No.16/394,694 filed on Apr. 25, 2019, which issued as U.S. Pat. No.10,627,226 on Apr. 21, 2020, which is a continuation of, and claims thebenefit of priority to, U.S. patent application Ser. No. 15/396,099filed on Dec. 30, 2016 which issued as U.S. Pat. No. 10,323,936 on Jun.18, 2019, the disclosures of which are each incorporated herein in theirentirety.

TECHNICAL FIELD

This disclosure relates generally to sensor calibration systems, andmore particularly to systems for calibrating sensors on vehicles.

BACKGROUND

Cameras and other types of sensors have been used on vehicles to enablesystems that act as driving aids, such as for safety, awareness, orcomfort. For example, an adaptive cruise control system generally usessensors to detect the proximity of another vehicle in order to adjustvehicle speed or maintain a set vehicle spacing. In another example, alane departure warning system generally uses sensors to detect alocation of a vehicle within a lane of traffic in order to provide awarning to the driver or execute an automatic correction in the eventthat the vehicle is straying from the lane of traffic. Automated orassisted driving systems generally use sensors to enable machine visionthat is used to navigate the vehicle to a destination while avoidingobstacles and obeying traffic laws and procedures. The sensors for thesetypes of systems are generally mounted on the vehicle at variouslocations and orientations so as to collect the data needed to operatethe systems.

In order to operate effectively, however, data read by the sensors mustbe relatable to a known orientation and location on the vehicle. Forexample, if the sensor is not located on a portion of the body of thevehicle that is closest to an obstacle, than the distance between thesensor and the obstacle sensed by the sensor will not indicate the trueproximity of the obstacle. A known location and orientation of a sensoron the body of the vehicle can be used with a sensor reading in order todetermine a true distance between an obstacle and the body of thevehicle.

Thus, the accuracy and effectiveness of systems relying on sensorsdepends on the accuracy of the location and orientation information forthe sensors on the body of the vehicle. Generally, sensors on a vehicleare mounted at known locations relative to defined points such as anaxle or wheel, and are oriented relative to a “thrust line” of thevehicle. The thrust line of a vehicle extends forwardly from a point ofintersection of the rear transverse axis of the rear wheels and thelongitudinal center line of the vehicle at an angle to the center line.The angle that the thrust line makes with respect to the center line ofthe vehicle is determined by the toe of the rear wheels, and isgenerally relatively small; for example, as close to zero as possible.

A calibration process is customarily used in order to determine orvalidate the location and orientation of a sensor. Devices used forcalibration generally include an alignment element such as a mirror oroptical target mounted on a stand that is placed at a fixed location infront of the vehicle so that the target is within a line-of-sight of thesensor. Precise calibration requires that the alignment element ispositioned and oriented accurately in front of the vehicle according tothat vehicle's specific manufacturer's specifications. Each vehicle mayinclude a multitude of different types of sensors at differentlocations. Further, depending on the manufacturer's specifications, thealignment element may have to be oriented accurately relative to thevehicle in up to six different degrees of freedom; e.g., distance infront of the vehicle, left-to-right centering, perpendicularity to thethrust line, height, orientation about a horizontal axis, andorientation about an axis along the thrust line.

As a result, the number and position of alignment elements needed tocalibrate the sensors of different vehicles can vary drastically frommanufacturer to manufacturer, and even from vehicle to vehicle. Thus,each manufacturer generally provides one or more separate calibrationdevices that include the alignment elements adapted to the vehicles theyoffer for sale. Conventionally, mechanics and service professionals thatseek to cater to a wide variety of makes and models of vehicles need toobtain and use a multitude of different calibration devices, which arecustomarily costly, and which require significant training to operateand maintain. Therefore, reducing the number of calibration devicesneeded to cater to a wide variety of vehicles would be beneficial.

SUMMARY

In one or more embodiments, a sensor calibration kit or system accordingto this disclosure includes a calibration tool, a front wheel alignmentpost, a rear wheel alignment post, a central extension mount, a laserline unit, and a plurality of calibration targets.

In one or more embodiments, the calibration tool includes a verticalrail that defines a first rail axis, a vertically movable carriageassembly supported by the vertical rail and movable along the first railaxis and having a horizontal rail that defines a second rail axistransverse to the first rail axis, and a horizontally movable carriageassembly supported by the horizontal rail and movable along the secondrail axis. The horizontally movable carriage assembly has a transversemounting bar with a plurality of target mounts. Each target mount isconfigured to releasably support a respective calibration target.

In one or more embodiments, the transverse mounting bar includes amounting rail that defines a third rail axis transverse to the firstrail axis. The plurality of target mounts are supported by the mountingrail and movable along the third rail axis.

In one or more embodiments, the transverse mounting bar is pivotablymounted on the second carriage assembly so as to be pivotable about apivot axis transverse to the third rail axis.

In one or more embodiments, the horizontally movable carriage assemblyfurther includes a spring member positioned between the horizontallymovable carriage assembly and the transverse mounting bar on a firstside of the pivot axis and configured to exert a force acting on thetransverse mounting bar in a first direction about the pivot axis, andan adjustment member positioned between the horizontally movablecarriage assembly and the transverse mounting bar on a second side ofthe pivot axis opposite the first side and operable to counter-act theforce of the spring member to set a pivot position of the transversemounting bar about the pivot axis.

In one or more embodiments, the transverse mounting bar includes a firstruler oriented parallel to the third rail axis.

In one or more embodiments, the calibration tool further includes asecond ruler oriented parallel to the first rail axis.

In one or more embodiments, the calibration tool further includes a baseplate assembly supporting the vertical rail and including an alignmentmember configured to align the calibration tool with a predeterminedreference point.

In one or more embodiments, the kit further includes a line laser unitthat is configured to produce a line laser configured to align thecalibration tool relative to at least one of a measurement axis, ameasurement orientation, and a vehicle.

In one or more embodiments, the line laser unit is mountable on thesecond carriage at a first position whereat the line laser unit isconfigured to produce a laser line extending parallel to the third railaxis to identify a yaw angle for the plurality of target mounts relativeto the first rail axis, and a second position whereat the line laserunit is configured to produce a laser line extending perpendicular tothe third rail axis to identify a centerline of the calibration tool.

In one or more embodiments, in the first position, the line laser unitis on a top surface of the horizontally movable carriage assembly. Inthe second position, the line laser unit is on a front-facing sidesurface of the horizontally movable carriage assembly such that thehorizontally movable carriage assembly is between the line laser unitand the vertical rail.

In one or more embodiments, the front wheel alignment includes a firstadjustment target configured to locate the front wheel alignment postrelative to a wheel well of a front wheel of the vehicle, and a firstmount configured to removably mount the line laser unit in a thirdposition whereat the line laser unit is configured to produce a linelaser on the front wheel of the vehicle such that the front wheelalignment post can be aligned with a center of the front wheel.

In one or more embodiments, the rear wheel alignment post includes asecond adjustment target configured to locate the rear wheel alignmentpost relative to a wheel well of a rear wheel of the vehicle, and asecond mount configured to removably mount the line laser unit in afourth position whereat the line laser unit is configured to produce aline laser on the first adjustment target, such that the rear wheelalignment post can be aligned with the front wheel alignment post.

In one or more embodiments, the front wheel alignment post includes amounting point configured to receive a measuring tape.

In one or more embodiments the first adjustment target of the frontwheel alignment post includes a first level, and the front wheelalignment post further includes a plurality of individually adjustablefeet.

In one or more embodiments, the second adjustment mount of the rearwheel alignment post includes a second level, and the rear wheelalignment post further includes a plurality of individually adjustablefeet.

In one or more embodiments, in the first position, the line laser unitis on a top surface of the horizontally movable carriage assembly. Inthe second position, the line laser unit is on a front-facing sidesurface of the horizontally movable carriage assembly such that thehorizontally movable carriage assembly is between the line laser unitand the vertical rail.

In one or more embodiments, the kit further includes at least one safetycord that is assigned to at least one calibration target, and at leastone of the plurality of target mounts is a magnetic mounting pointconfigured to magnetically engage with the at least one calibrationtarget. The safety cord is configured to engage with the at least onecalibration target.

In one or more embodiments, the central extension mount is supported bythe vertically movable carriage assembly so as to extend parallel to thefirst rail axis. The central extension mount is configured to removablyreceive a first portion of a first calibration target, and a centralmount is positioned on the horizontally movable carriage assembly andconfigured to removably receive a second portion of the firstcalibration target so that the first calibration target is parallel tothe first rail axis.

In one or more embodiments, different combinations and positions of theplurality of different calibration targets enables calibration ofsensors on different vehicles based on predetermined specificationscorresponding to the different vehicles.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts a perspective view of an exemplary embodiment of acalibration tool for a sensor calibration kit according to thisdisclosure.

FIGS. 2A and 2B depicts perspective view different exemplary embodimentsof a base plate assembly for the calibration tool from FIG. 1.

FIGS. 3 and 4 depict perspective views of different portions of thecalibration tool of FIG. 1.

FIG. 5 depicts an exploded perspective view of a vertically movablecarriage from the calibration tool of FIG. 1.

FIGS. 6A, 6B, and 7 depict different perspective views of a horizontallymovable carriage assembly for the calibration tool of FIG. 1.

FIGS. 8 and 9 depict a perspective view of different exemplaryembodiments of a central extension mount for a sensor calibration kitaccording to this disclosure.

FIG. 10 depicts a perspective vie of an exemplary embodiment of a frontwheel alignment post for a sensor calibration kit according to thisdisclosure.

FIG. 11 depicts a perspective vie of an exemplary embodiment of a rearwheel alignment post for a sensor calibration kit according to thisdisclosure.

FIGS. 12-26 depict different steps of an exemplary process for aligningthe calibration tool of FIG. 1 with a vehicle using the front wheelalignment post from FIG. 10 and the rear wheel alignment post from FIG.11.

FIG. 27 depicts a schematic of the locations of the calibration tool,first measurement post, and second measurement post relative to avehicle achieved using the methodology of FIGS. 15-25.

DETAILED DESCRIPTION

For the purposes of promoting an understanding of the principles of thedisclosure, reference will now be made to the embodiments illustrated inthe drawings and described in the following written specification. It isunderstood that no limitation to the scope of the disclosure is therebyintended. It is further understood that the present disclosure includesany alterations and modifications to the illustrated embodiments andincludes further applications of the principles of the disclosure aswould normally occur to one of ordinary skill in the art to which thisdisclosure pertains.

A sensor calibration system or kit according to this disclosure includesone or more parts usable for calibrating sensors and cameras on variousmakes and models of vehicles.

FIG. 1 depicts a perspective view of an exemplary embodiment of a sensorcalibration tool 100 included in a sensor calibration system accordingto this disclosure. The calibration tool 100 includes a base plateassembly 102, a vertical rail 104, a vertically movable carriageassembly 106, a transverse carriage assembly 108, a first ruler 110, anda line laser unit 112.

The first ruler 110 extends parallel to the vertical rail 104, andincludes measurement markings.

FIG. 2A depicts an exploded perspective view of the base plate assembly102. The base plate assembly 102 includes a base portion 114, aplurality of elevated wheel mounts 116, a plurality of wheels 118, and aplurality of feet 120.

The base portion 114 of the base plate assembly 102 includes a mountingregion 124 and an alignment member 125. The alignment member 125 isconfigured to position the base plate assembly 102 at a predeterminedlocation on a surface on which the calibration tool 100 is located. Inthis embodiment, the alignment member 125 includes at least one aperture122 and at least one locating member 126, in this instance a rib 126that runs along a central axis 128 of the base plate assembly 102.

In this embodiment, the base plate assembly 102 includes four elevatedwheel mounts 116, although more and less wheel mounts are included inother embodiments. The plurality of elevated wheel mounts 116 aredistributed around the base portion 114. A respective wheel 118 ismounted to each of the elevated wheel mounts 116. The wheels 118 areconfigured to enable a user to move the calibration tool 100.

The plurality of feet 120 are mounted on the base portion 114 of thebase plate assembly 102, and each include a screw member 121 and a footmember 123. The feet 120 are configured such that a first operation of arespective screw member 121 causes a corresponding foot member 123 toextend downwards toward a surface on which the calibration tool 100 ispositioned and lift base portion 114 and the plurality of wheels 118from off the surface. The feet 120 are further configured such that asecond operation of the respective screw member 121 causes thecorresponding foot member 123 to retract the foot member 123 and movethe base portion 114 and the plurality of wheels 118 toward the surface.

FIG. 2B depicts a perspective view of another embodiment of the baseplate assembly 102 where the wheels 118 are omitted. In this embodiment,the screw members 121 are adjustment knobs 121, and the locating member126 is a pair of nubs 126 aligned with the central axis 128.

As illustrated in FIG. 3, a lower end 130 of the vertical rail 104 isreceived in the mounting region 124 of the base plate assembly 102. Thevertical rail 104 defines a first rail axis 132. A carriage base 136 ofthe vertically movable carriage assembly 106 (FIG. 1) is supported bythe vertical rail 104 so as to be movable along the first rail axis 132.In FIG. 3, elements of the vertically movable carriage assembly 106(FIG. 1) other than the carriage base 136 are omitted.

In this embodiment, the carriage base 136 includes a locking handle 134that is selectively actuatable. In an un-actuated position, the lockinghandle 134 is configured to hold the carriage base 136 at a fixedposition along the vertical rail 104. In an actuated position, thelocking handle 134 is configured to release the carriage base 136 tomove along the vertical rail 104. In other embodiments, other types oflocking mechanisms for holding the carriage base 136 in place are alsocontemplated such as, for example, a pin, screw, clip, rack-and-pinion,etc.

FIG. 4 depicts a perspective view of the vertically movable carriageassembly 106 and a backing plate 144 and a clamp member 146 of thetransverse carriage assembly 108 mounted together with the vertical rail104. Elements of the transverse carriage assembly 108 other than thebacking plate 144 and the clamp member 146 are omitted.

The vertically movable carriage assembly 106 includes the carriage base136, a back plate 138, and a horizontal rail 140. FIG. 5 depicts anexploded view of the back plate 138 and horizontal rail 140. Asillustrated in FIG. 4, the back plate 138 is mounted on the carriagebase 136, and the horizontal rail 140 is mounted on the back plate 138so that the back plate 138 is disposed between the horizontal rail 140and the carriage base 136.

The horizontal rail 140 defines a second rail axis 142 that istransverse to the first rail axis 132. As used herein, the term“transverse” means not parallel, but does not require, for example, thatdifferent axes intersect. For instance, in FIG. 4 the second rail axis142 is laterally offset from the first rail axis by the thickness of thevertically movable carriage assembly 106, and the axes 142 and 132 thusdo not intersect while being non-parallel and thus transverse to eachother. In some embodiments, however, axes that are transverse alsointersect. The backing plate 144 of the transverse carriage assembly 108is supported by the horizontal rail 140 so that the transverse carriageassembly 108 is movable along the second rail axis 142.

As illustrated in the exploded view of FIG. 6A, the transverse carriageassembly 108 includes the backing plate 144, the clamp member 146, atransverse mounting bar 148, a pivot member 150, a spring member 152,and an adjustment member 153.

The clamp member 146 is mounted on the backing plate 144 so that thebacking plate 144 is disposed between the clamp member 146 and thehorizontal rail 140. The clamp member 146 defines a channel 155 runningtransverse to the first rail axis 132 and a pair of holes 154 alignedparallel to the first rail axis 132 to define a pivoting axis 156.

The transverse mounting bar 148 includes a transverse rail 158, aplurality of target mounts 160, and a second ruler 161, and also definesa pivoting hole 162. The transverse rail 158 extends over substantiallyan entire length of the transverse mounting bar 148. In this embodiment,the transverse rail 158 is depicted as separated into two parts oneither side of the pivoting hole 162, but in some embodiments, thetransverse rail 158 is continuous, or is divided into additionalsegments.

The transverse mounting bar 148 is mounted in the channel 155 so thatthe pivoting hole 162 is aligned with the pair of holes 154 in theclamping member 146. The pivot member 150, in this embodiment a pin 150,extends through the pair of holes 154 in the clamping member 146 andthrough the pivoting hole 162 in the transverse mounting bar 148 inorder to mount the transverse mounting bar 148 in the clamping member146 so as to be pivotable about the pivoting axis 156.

The transverse rail 158 of the transverse mounting bar 148 defines athird rail axis 164 that is transverse to the first rail axis 132.Pivoting the transverse mounting bar 148 about the pivot axis 156adjusts a yaw angle 159 of the transverse mounting bar 148 relative tothe first rail axis 132.

The spring member 152 is disposed between the transverse mounting bar148 and the clamping member 146 on a first side of the pivoting hole162, and the adjustment member 153, in this embodiment an adjustmentknob 152, is disposed in the clamping member 146 on an opposite side ofthe pivoting hole 162. FIG. 6B depicts a detail view of the adjustmentmember 153. Operating the adjustment member 153 adjusts a position of ascrew 155 that counter-acts a force of the spring member 152 (FIG. 6A)and sets a pivot position of the transverse mounting bar 148 about thepivoting axis 156.

FIG. 6B also illustrates a mounting bracket 174 that can be includedwith the sensor calibration kit. The mounting bracket 174 is mounted onthe second carriage assembly 108, and includes a top face 176 disposedon top of the clamping member 146, and a front facing side 178 thatcloses off the channel 155 of the clamping member 146.

The front facing side 178 is configured as a front laser unit mountingpoint 178, and the top face 176 is configured as a top laser unitmounting point 176. In FIG. 6B, the line laser unit 112 is mounted onthe top face 176 is configured as a top laser unit mounting point 176,but the line laser unit 112 can be repositioned to other line lasermounting points, as discussed in further detail below. FIG. 7illustrates an example where the line laser unit 112 is mounted on thefront laser unit mounting point 178.

FIGS. 8 and 9 depict different exemplary embodiments of a central mountextension 184 that can also be included in the sensor calibration kit.In FIG. 8, the central mount extension 184 is mounted on the verticallymovable carriage assembly 106 so as to extend parallel to the first railaxis 132, and includes a top bracket 185 that is coplanar with the frontfacing side 178 of the mounting bracket 174. The top bracket 185 isconfigured as a top central mount 186. In this embodiment, the frontfacing side 178 is further configured as a target mount to receive afirst portion 187 of a central calibration target 168 The top centralmount 186 is configured to receive a second portion 189 of a calibrationtarget 168 such that the calibration target 168 in FIG. 10 is at anorientation running parallel to the first rail axis 132. The embodimentin FIG. 9 depicts is similar to the example illustrated in FIG. 10. Inthis embodiment, however, the central mount extension 184 is mounted onthe vertical rail 104 instead of on the vertically movable carriageassembly 106.

As discussed above, in order to calibrate sensors on a vehicle, acalibration tool is positioned and oriented at a predefined locationrelative to the vehicle. In other words, each manufacturer or eachvehicle may include specifications that define a predetermined locationand orientation for calibration targets needed to calibrate the sensorson a particular vehicle. In some embodiment, additional elements areincluded in the sensor calibration kit to facilitate locating andpositioning the calibration tool 100 relative to a vehicle.

FIG. 10 depicts a front wheel alignment post 200 that facilitateslocating the calibration device 100 (FIG. 1) relative to a vehicle. Thefront wheel alignment post 200 includes a front alignment bar 202, afirst adjustment target 204, a laser unit mounting bracket 206, and afront post base plate 208.

The front post base plate 208 includes a plurality of adjustable feet210 and a ruler tape mount 212. The adjustable feet 210 are operable tolevel the first post base plate 208. The ruler tape mounting point 212is configured to receive an end of a ruler tape, as discussed in moredetail below.

The front alignment bar 202 is mounted on the front post base plate 208so as to extend in a direction normal to the front post base plate 208.The front wheel alignment post 200 defines a front post rail 216 thatextends along the direction normal to the front post base plate 208.

The first adjustment target 204 is supported by the front post rail 216so as to be movable along the direction normal to the front post baseplate 208, and includes a locking knob 218 and a target region 220. Thelocking knob 218 is operable to selectively fix the first adjustmenttarget 204 in place along the front post rail 216 and enable the firstadjustment target 204 to move along the front post rail 216. The targetregion 220 includes a laser target 222 and a level 224. The level 224,in this embodiment a spirit level 224, is usable with the plurality ofadjustable feet 210 for leveling the first adjustment target member 204of the front wheel alignment post 200. The laser target 222 facilitatesorienting a further measurement post, as discussed in further detailbelow.

The laser unit mounting bracket 206 is affixed to the front alignmentbar 202, and includes a first face 226 parallel to the first post baseplate 208. The first face 226 is configured as a first post laser unitmount 228 to receive the line laser unit 112 for locating the frontwheel alignment post 200 relative to a front wheel of a vehicle, asdiscussed in further detail below.

FIG. 11 depicts a rear wheel alignment post 300 that facilitateslocating the calibration device 100 relative to a vehicle. The rearwheel alignment post 300 includes a rear alignment bar 302, a secondadjustment target 304, a laser unit mounting bracket 306, and a rearpost base plate 308.

The rear post base plate 308 includes a plurality of adjustable feet310. The adjustable feet 310 are operable to level the second post baseplate 308. The rear alignment bar 302 is mounted on the rear post baseplate 308 so as to extend in a direction normal to the second post baseplate 308. The rear alignment bar 302 defines a rear post rail 316 thatextends along the direction normal to the rear post base plate 308.

The second adjustment target 304 is supported by the rear post rail 316so as to be movable along the direction normal to the rear post baseplate 308, and includes a locking knob 318 and a target region 320. Thelocking knob 318 is operable to selectively fix the second adjustmenttarget 304 in place along the rear post rail 316 and enable the secondadjustment target 304 to move along the rear post rail 316. The targetregion 320 includes a laser target 322.

The laser unit mounting bracket 306 is affixed to the rear alignment bar302, and includes a first face 326 parallel to the second post baseplate 308. The first face 326 is configured as a rear post laser unitmount and includes a level 324. The second post laser unit mount 328 isconfigured to receive the line laser unit 112 for locating the secondmeasuring post 200 relative to the front wheel alignment post 200, asdiscussed in further detail below. The level 324, in this embodiment aspirit level 324, is usable with the plurality of adjustable feet 310for leveling the first face 326 of the rear wheel alignment post 300.

FIGS. 12-21 illustrate various stages of an exemplary process oflocating the calibration tool 100 relative to a vehicle 400 using thefront wheel alignment post 200 and rear wheel alignment post 300.

FIG. 12 depicts an image 502 in which the first adjustment target 204 ispositioned along the front post rail 216 and the front wheel alignmentpost 200 is positioned at a front wheel 402 of the vehicle 400 such thatthe first adjustment target 204 abuts and is oriented perpendicularly toa wheel well 404 of the front wheel 402.

FIG. 13 depicts an image 504 in which the first adjustment target 204 isleveled according to the level 224 by operating the plurality ofadjustable feet 210 on the first measurement post 200.

FIG. 14 depicts an image 506, in which the laser line unit 112 ismounted on the first post laser unit mount 228 and operated to produce alaser line 406. The front wheel alignment post 200 is then centeredrelative to the front wheel 402 such that the laser line 406 is centeredwith the front wheel 402.

FIG. 15 depicts an image 508, in which the rear wheel alignment post 300is positioned at a rear wheel 410 of the vehicle 400 such that thesecond adjustment target 304 abuts and is oriented perpendicularly to awheel well 412 of the rear wheel 410. The laser line unit 112 is mountedon the second post laser unit mounting point 328, and is leveledaccording to the level 324 by operating the plurality of adjustable feet310 on the second measurement post 300.

FIG. 16 depicts an image 510, in which the laser line unit 112 isoperated to produce a laser line 414. The rear wheel alignment post 300is then rotated so that the laser line 414 is centered on the firstadjustment target member 204.

FIG. 17 depicts an image 512, in which a measuring tape 418 is mountedon the ruler tape mounting point 212 of the front wheel alignment post200 in order to identify a first reference mark 420 using a distancepredetermined according to the specifications corresponding to thevehicle 400. In another embodiment, a surface on which the vehicle 400is positioned includes markings for measuring distances, and is usedinstead of or in addition to the measuring tape 418. Other measurementtechniques are also contemplated.

FIG. 18 depicts an image 514, whereby the process from images 502, 504,506, 508, 510, and 512 are repeated for the opposite side of the vehicle400 in order to identify a second reference mark 422.

FIG. 19 depicts an image 516, in which a straight-edge tool 424, such asa measuring tape or ruler, is used to identify a center reference mark426 centered between the first reference mark 420 and the secondreference mark 422.

FIG. 20 depicts an image 518A, in which the line laser unit is mountedon the top laser unit mount 188 of the mounting bracket 174 of thetransverse carriage assembly 108 (FIG. 6B). The laser line unit 112 isthen operated to produce a laser line 424 that intersects the aperture122 in the base plate assembly 102 of the calibration tool 100. Thecalibration tool 100 is then moved, via the plurality of wheels 118, sothat the central reference mark 426 is visible through the pair ofapertures 122, and such that the locating member 126 is centered on thecentral reference mark 426.

FIG. 21 depicts an alternative positioning for the laser line unit 112on the calibration tool 100. The line laser unit 112 is mounted on thefront facing side 178 of the mounting bracket 174, and is operated toproduce a laser line 190 aligned with a center of the calibration tool100. The laser line 190 can then be aligned with a central referencemark, such as the central reference 426 shown in FIG. 20.

FIG. 22 depicts an image 520A, in which the plurality of feet 120 on thebase 102 are operated to lift the wheels 118 of from the surface 427 andset a location of the calibration tool 100 that is centered on thecentral reference point. The laser line 424 indicates the yaw angle ofthe transverse mounting bar 148 relative to the reference marks 420,422, and 426. The adjustment member 153 is then operated to adjust theyaw angle 159 (FIG. 6A) and pivot the transverse mounting bar 148 sothat the transverse mounting bar 148 is aligned with the first referencemark 420, central reference mark 426, and the second reference mark 422.

FIG. 23 depicts an image 520B showing an alternative procedure to theprocedure depicting in image 520A for identifying the yaw angle 159 andaligning the transverse mounting bar 148. A pair of plum bobs 430 aremounted on a pair of opposing mounting members 160 on the transversemounting bar 148. At least one of positions of the mounts 160, thelocation of the calibration tool 100, and the yaw angle 159 is adjustedto align the plum bobs 430 with the first reference mark 420 and thesecond reference mark 422, respectively.

Once positioned and oriented based on the specifications provided for aparticular vehicle 400, the target mounts 160 are moved to locationspredetermined by the specification by at least one of moving thevertically movable carriage assembly 106 to a predetermined positionalong the first rail axis 132, moving the horizontally movable carriageassembly 108 to a predetermined position along the second rail axis 142,and moving one or more of the target mounts 160 to predeterminedpositions along the third rail axis 164.

As discussed above, the calibration tool 100 (FIG. 1) is configured toreceive various combinations of calibration target members at differentpositions based on the different specifications for different vehicles.FIG. 24 depicts an example where a pair of calibration targets 168 aredisposed at opposite ends of the transverse mounting bar 148.

The plurality of target mounts 160 are mounted on the transverse rail158 so as to be movable along the third rail axis 164. Thus, the yawangle 159 of the transverse mounting bar 148 is also a yaw angle 159 forthe plurality of target mounts 160. The second ruler 161 extendsparallel to the third rail axis 164, and includes measurement markingsto facilitate locating positions for the plurality of target mounts 160along the transverse rail 158. Each of the plurality of target mounts160 is configured to act as a respective mounting point to releasablymount a calibration target member.

FIG. 25 depicts another example where a calibration target 168 ismounted on the front facing side 178 of the mounting bracket 174.

FIG. 26 depicts an exemplary calibration target member 168 mounted ontoa target mount 160. In this embodiment, the target mount 160 includes amagnetic material that defines a magnetic mount 170, and also includes asafety cable 172. The calibration target member 168 includes a metallicmaterial, and is configured to magnetically adhere to the magnetic mount170. The magnetic adherence between the calibration target member 168and the target mount 160 enables rapid installation and removal ofdifferent calibration target members from the calibration tool 100. Thesafety cable 172 is configured to engage with the calibration targetmember 168 and catch the calibration target member 168 in the event of afailure of the magnetic adherence between the calibration target member168 and the magnetic mounting point 170 of the target mount 160.

In FIG. 26, the calibration target member 168 is depicted as having asubstantially rectilinear shape. In other embodiments, calibrationtarget members can have any arbitrary shape. In FIG. 26, the calibrationtarget member 168 is also depicted as being mounted on a single targetmount 160. In some embodiments, a single calibration target member aremounted on a plurality of mounting elements, and in some embodiments, aplurality of calibration target elements are mounted on a singlemounting element. In various embodiments target mounts 160 of varioussizes and shapes are also contemplated.

FIG. 27 depicts a top view of the positions of the calibration tool 100,first measuring posts 200 and second measuring posts 300 after beingaligned according to the methodology discussed above. As illustrated inFIG. 27, the calibration tool 100 is located and oriented relative tonot only the vehicle 400, but also to a thrust line 450 of the vehicle.

It will be appreciated that variants of the above-described and otherfeatures and functions, or alternatives thereof, may be desirablycombined into many other different systems, applications or methods.Various presently unforeseen or unanticipated alternatives,modifications, variations or improvements may be subsequently made bythose skilled in the art that are also intended to be encompassed by thedisclosure.

What is claimed is:
 1. A sensor calibration system, comprising: acalibration tool that includes: a vertical rail that defines a firstrail axis; a first movable carriage assembly supported by the verticalrail and movable along the first rail axis, the first movable carriageassembly having a horizontal rail that defines a second rail axistransverse to the first rail axis; and a second movable carriageassembly coupled to the horizontal rail, the second movable carriageassembly having a transverse mounting bar with a plurality of targetmounts, each target mount configured to releasably support a respectivecalibration target.
 2. The sensor calibration system of claim 1,wherein: the transverse mounting bar includes a mounting rail thatdefines a third rail axis transverse to the first rail axis; and theplurality of target mounts are supported by the mounting rail andmovable along the third rail axis.
 3. The sensor calibration system ofclaim 2, wherein the transverse mounting bar is pivotably mounted on thesecond movable carriage assembly so as to be pivotable about a pivotaxis transverse to the third rail axis.
 4. The sensor calibration systemof claim 3, wherein the second movable carriage assembly furtherincludes: a spring member positioned between the second movable carriageassembly and the transverse mounting bar on a first side of the pivotaxis and configured to exert a force acting on the transverse mountingbar in a first direction about the pivot axis; and an adjustment memberpositioned between the second movable carriage assembly and thetransverse mounting bar on a second side of the pivot axis opposite thefirst side and operable to counter-act the force of the spring member toset a pivot position of the transverse mounting bar about the pivotaxis.
 5. The sensor calibration system of claim 2, wherein thetransverse mounting bar includes a third-axis ruler oriented parallel tothe third rail axis.
 6. The sensor calibration system of claim 1,wherein the calibration tool further includes a first-axis ruleroriented parallel to the first rail axis.
 7. The sensor calibrationsystem of claim 1, wherein the calibration tool further includes a baseplate assembly supporting the vertical rail, and including an alignmentmember configured to align the calibration tool with a predeterminedlocation on a surface on which the calibration tool is positioned. 8.The sensor calibration system of claim 1, further comprising: a linelaser unit that is configured to produce a line laser configured toalign the calibration tool relative to at least one of a measurementaxis, a measurement orientation, and a vehicle.
 9. The sensorcalibration system of claim 8, wherein: the transverse mounting barincludes a mounting rail that defines a third rail axis transverse tothe first rail axis; the plurality of target mounts are supported by themounting rail and movable along the third rail axis; and the line laserunit is mountable on the second movable carriage assembly at: a firstposition, whereat the line laser unit is configured to produce a laserline extending parallel to the third rail axis to identify a yaw anglefor the plurality of target mounts relative to the first rail axis; anda second position, whereat the line laser unit is configured to producea laser line extending perpendicular to the third rail axis to identifya centerline of the calibration tool.
 10. The sensor calibration systemof claim 9, wherein: in the first position, the line laser unit is on atop surface of the second movable carriage assembly; and in the secondposition, the line laser unit is on a front-facing side surface of thesecond movable carriage assembly such that the second movable carriageassembly is between the line laser unit and the vertical rail.
 11. Thesensor calibration system of claim 8, further comprising: a front wheelalignment post that includes: a first adjustment target configured tolocate the front wheel alignment post relative to a wheel well of afront wheel of the vehicle; and a first mount configured to removablymount the line laser unit in a third position whereat the line laserunit is configured to produce a line laser on the front wheel of thevehicle such that the front wheel alignment post can be aligned with acenter of the front wheel; and a rear wheel alignment post thatincludes: a second adjustment target configured to locate the rear wheelalignment post relative to a wheel well of a rear wheel of the vehicle;and a second mount configured to removably mount the line laser unit ina fourth position whereat the line laser unit is configured to produce aline laser on the first adjustment target, such that the rear wheelalignment post can be aligned with the front wheel alignment post. 12.The sensor calibration system of claim 11, wherein the front wheelalignment post includes a mounting point configured to receive ameasuring tape.
 13. The sensor calibration system of claim 11, wherein:the first adjustment target of the front wheel alignment post includes afirst level; and the front wheel alignment post further includes aplurality of individually adjustable feet.
 14. The sensor calibrationsystem of claim 11, wherein: the second adjustment mount of the rearwheel alignment post includes a second level; and the rear wheelalignment post further includes a plurality of individually adjustablefeet.
 15. The sensor calibration system of claim 11, wherein: in a firstposition, whereat the line laser unit is configured to produce a laserline extending parallel to the third rail axis to identify a yaw anglefor the plurality of target mounts relative to the first rail axis, theline laser unit is on a top surface of the second movable carriageassembly; and in a second position, whereat the line laser unit isconfigured to produce a laser line extending perpendicular to the thirdrail axis to identify a centerline of the calibration tool, the linelaser unit is on a front-facing side surface of the second movablecarriage assembly such that the second movable carriage assembly isbetween the line laser unit and the vertical rail.
 16. The sensorcalibration system of claim 1, further comprising at least one safetycord that is assigned to at least one calibration target, wherein: atleast one of the plurality of target mounts is a magnetic mounting pointconfigured to magnetically engage with the at least one calibrationtarget; and the safety cord is configured to engage with the at leastone calibration target.
 17. The sensor calibration system of claim 1,further comprising: a central extension mount supported by the firstmovable carriage assembly so as to extend parallel to the first railaxis, the central extension mount configured to removably receive afirst portion of a first calibration target; and a central mountpositioned on the second movable carriage assembly and configured toremovably receive a second portion of the first calibration target sothat the first calibration target is parallel to the first rail axis.18. The sensor calibration system of claim 1, further comprising: aplurality of calibration targets that are mountable on the plurality oftarget mounts, wherein different combinations and positions of theplurality of different calibration targets enables calibration ofsensors on different vehicles.